GCC Code Coverage Report

Directory: ./
File: include/tsid/bindings/python/contacts/contact-two-frame-positions.hpp
Date: 2024-11-10 01:12:44
Exec Total Coverage
Lines: 36 82 43.9%
Branches: 50 166 30.1%
Line Branch Exec Source
1 //
2 // Copyright (c) 2023 MIPT
3 //
4 // This file is part of tsid
5 // tsid is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 // tsid is distributed in the hope that it will be
10 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 // General Lesser Public License for more details. You should have
13 // received a copy of the GNU Lesser General Public License along with
14 // tsid If not, see
15 // <http://www.gnu.org/licenses/>.
16 //
17
18 #ifndef __tsid_python_contact_two_frame_positions_hpp__
19 #define __tsid_python_contact_two_frame_positions_hpp__
20
21 #include "tsid/bindings/python/fwd.hpp"
22
23 #include "tsid/contacts/contact-two-frame-positions.hpp"
24 #include "tsid/robots/robot-wrapper.hpp"
25 #include "tsid/math/constraint-inequality.hpp"
26 #include "tsid/math/constraint-equality.hpp"
27 #include "tsid/math/constraint-base.hpp"
28
29 namespace tsid {
30 namespace python {
31 namespace bp = boost::python;
32
33 template <typename ContactTwoFramePositions>
34 struct ContactTwoFramePositionsPythonVisitor
35 : public boost::python::def_visitor<
36 ContactTwoFramePositionsPythonVisitor<ContactTwoFramePositions> > {
37 template <class PyClass>
38
39 7 void visit(PyClass& cl) const {
40 cl
41
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 35 .def(bp::init<std::string, robots::RobotWrapper&, std::string,
42 std::string, double, double>(
43
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 21 (bp::arg("name"), bp::arg("robot"), bp::arg("framename1"),
44
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 28 bp::arg("framename2"), bp::arg("minForce"), bp::arg("maxForce")),
45 "Default Constructor"))
46 14 .add_property("n_motion", &ContactTwoFramePositions::n_motion,
47 "return number of motion")
48
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 7 .add_property("n_force", &ContactTwoFramePositions::n_force,
49 "return number of force")
50
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 7 .add_property("name", &ContactTwoFramePositionsPythonVisitor::name,
51 "return name")
52
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 14 .def("computeMotionTask",
53 &ContactTwoFramePositionsPythonVisitor::computeMotionTask,
54 bp::args("t", "q", "v", "data"))
55
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 14 .def("computeForceTask",
56 &ContactTwoFramePositionsPythonVisitor::computeForceTask,
57 bp::args("t", "q", "v", "data"))
58
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 14 .def("computeForceRegularizationTask",
59 &ContactTwoFramePositionsPythonVisitor::
60 computeForceRegularizationTask,
61 bp::args("t", "q", "v", "data"))
62
63
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 7 .add_property(
64 "getForceGeneratorMatrix",
65 bp::make_function(
66 &ContactTwoFramePositionsPythonVisitor::getForceGeneratorMatrix,
67 7 bp::return_value_policy<bp::copy_const_reference>()))
68
69
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 7 .def("getNormalForce",
70 &ContactTwoFramePositionsPythonVisitor::getNormalForce,
71
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 14 bp::arg("vec"))
72 14 .add_property("getMinNormalForce",
73 &ContactTwoFramePositions::getMinNormalForce)
74
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 7 .add_property("getMaxNormalForce",
75 &ContactTwoFramePositions::getMaxNormalForce)
76
77
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 7 .add_property("Kp",
78 bp::make_function(
79 &ContactTwoFramePositionsPythonVisitor::Kp,
80 7 bp::return_value_policy<bp::copy_const_reference>()))
81
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 7 .add_property("Kd",
82 bp::make_function(
83 &ContactTwoFramePositionsPythonVisitor::Kd,
84 7 bp::return_value_policy<bp::copy_const_reference>()))
85
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 7 .def("setKp", &ContactTwoFramePositionsPythonVisitor::setKp,
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 14 bp::arg("Kp"))
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 7 .def("setKd", &ContactTwoFramePositionsPythonVisitor::setKd,
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 14 bp::arg("Kd"))
89
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 14 .def("setContactNormal",
90 &ContactTwoFramePositionsPythonVisitor::setContactNormal,
91 bp::args("vec"))
92
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 14 .def("setFrictionCoefficient",
93 &ContactTwoFramePositionsPythonVisitor::setFrictionCoefficient,
94 bp::args("friction_coeff"))
95
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 14 .def("setMinNormalForce",
96 &ContactTwoFramePositionsPythonVisitor::setMinNormalForce,
97 bp::args("min_force"))
98
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 14 .def("setMaxNormalForce",
99 &ContactTwoFramePositionsPythonVisitor::setMaxNormalForce,
100 bp::args("max_force"))
101
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 14 .def("setForceReference",
102 &ContactTwoFramePositionsPythonVisitor::setForceReference,
103 bp::args("f_vec"))
104
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 7 .def("setRegularizationTaskWeightVector",
105 &ContactTwoFramePositionsPythonVisitor::
106 setRegularizationTaskWeightVector,
107 bp::args("w_vec"));
108 7 }
109 ✗ static std::string name(ContactTwoFramePositions& self) {
110 ✗ std::string name = self.name();
111 ✗ return name;
112 }
113
114 ✗ static math::ConstraintEquality computeMotionTask(
115 ContactTwoFramePositions& self, const double t, const Eigen::VectorXd& q,
116 const Eigen::VectorXd& v, pinocchio::Data& data) {
117 ✗ self.computeMotionTask(t, q, v, data);
118 ✗ math::ConstraintEquality cons(self.getMotionConstraint().name(),
119 ✗ self.getMotionConstraint().matrix(),
120 ✗ self.getMotionConstraint().vector());
121 ✗ return cons;
122 }
123 ✗ static math::ConstraintInequality computeForceTask(
124 ContactTwoFramePositions& self, const double t, const Eigen::VectorXd& q,
125 const Eigen::VectorXd& v, const pinocchio::Data& data) {
126 ✗ self.computeForceTask(t, q, v, data);
127 ✗ math::ConstraintInequality cons(self.getForceConstraint().name(),
128 ✗ self.getForceConstraint().matrix(),
129 ✗ self.getForceConstraint().lowerBound(),
130 ✗ self.getForceConstraint().upperBound());
131 ✗ return cons;
132 }
133 ✗ static math::ConstraintEquality computeForceRegularizationTask(
134 ContactTwoFramePositions& self, const double t, const Eigen::VectorXd& q,
135 const Eigen::VectorXd& v, const pinocchio::Data& data) {
136 ✗ self.computeForceRegularizationTask(t, q, v, data);
137 ✗ math::ConstraintEquality cons(self.getForceRegularizationTask().name(),
138 ✗ self.getForceRegularizationTask().matrix(),
139 ✗ self.getForceRegularizationTask().vector());
140 ✗ return cons;
141 }
142
143 ✗ static const Eigen::MatrixXd& getForceGeneratorMatrix(
144 ContactTwoFramePositions& self) {
145 ✗ return self.getForceGeneratorMatrix();
146 }
147 ✗ static const Eigen::VectorXd& Kp(ContactTwoFramePositions& self) {
148 ✗ return self.Kp();
149 }
150 ✗ static const Eigen::VectorXd& Kd(ContactTwoFramePositions& self) {
151 ✗ return self.Kd();
152 }
153 ✗ static void setKp(ContactTwoFramePositions& self,
154 const ::Eigen::VectorXd Kp) {
155 ✗ return self.Kp(Kp);
156 }
157 ✗ static void setKd(ContactTwoFramePositions& self,
158 const ::Eigen::VectorXd Kd) {
159 ✗ return self.Kd(Kd);
160 }
161 static bool setContactTwoFramePositionss(
162 ContactTwoFramePositions& self,
163 const ::Eigen::MatrixXd ContactTwoFramePositionss) {
164 return self.setContactTwoFramePositionss(ContactTwoFramePositionss);
165 }
166 ✗ static bool setContactNormal(ContactTwoFramePositions& self,
167 const ::Eigen::VectorXd contactNormal) {
168 ✗ return self.setContactNormal(contactNormal);
169 }
170 ✗ static bool setFrictionCoefficient(ContactTwoFramePositions& self,
171 const double frictionCoefficient) {
172 ✗ return self.setFrictionCoefficient(frictionCoefficient);
173 }
174 ✗ static bool setMinNormalForce(ContactTwoFramePositions& self,
175 const double minNormalForce) {
176 ✗ return self.setMinNormalForce(minNormalForce);
177 }
178 ✗ static bool setMaxNormalForce(ContactTwoFramePositions& self,
179 const double maxNormalForce) {
180 ✗ return self.setMaxNormalForce(maxNormalForce);
181 }
182 ✗ static void setForceReference(ContactTwoFramePositions& self,
183 const ::Eigen::VectorXd f_ref) {
184 ✗ self.setForceReference(f_ref);
185 }
186 ✗ static void setRegularizationTaskWeightVector(ContactTwoFramePositions& self,
187 const ::Eigen::VectorXd w) {
188 ✗ self.setRegularizationTaskWeightVector(w);
189 }
190 ✗ static double getNormalForce(ContactTwoFramePositions& self,
191 Eigen::VectorXd f) {
192 ✗ return self.getNormalForce(f);
193 }
194 7 static void expose(const std::string& class_name) {
195
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 7 std::string doc = "ContactTwoFramePositions info.";
196
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 7 bp::class_<ContactTwoFramePositions>(class_name.c_str(), doc.c_str(),
197 bp::no_init)
198
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 7 .def(ContactTwoFramePositionsPythonVisitor<ContactTwoFramePositions>());
199 7 }
200 };
201 } // namespace python
202 } // namespace tsid
203
204 #endif // ifndef __tsid_python_contact_two_frame_positions_hpp__
205